Struct heron::rapier_plugin::rapier2d::prelude::PrismaticJoint [−]
pub struct PrismaticJoint {Show 13 fields
pub local_anchor1: OPoint<f32, Const<2_usize>>,
pub local_anchor2: OPoint<f32, Const<2_usize>>,
pub impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
pub limits_enabled: bool,
pub limits: [f32; 2],
pub limits_impulse: f32,
pub motor_target_vel: f32,
pub motor_target_pos: f32,
pub motor_stiffness: f32,
pub motor_damping: f32,
pub motor_max_impulse: f32,
pub motor_impulse: f32,
pub motor_model: SpringModel,
// some fields omitted
}
Expand description
A joint that removes all relative motion between two bodies, except for the translations along one axis.
Fields
local_anchor1: OPoint<f32, Const<2_usize>>
Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body.
local_anchor2: OPoint<f32, Const<2_usize>>
Where the prismatic joint is attached on the second body, expressed in the local space of the second attached body.
impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
The impulse applied by this joint on the first body.
The impulse applied to the second body is given by -impulse
.
limits_enabled: bool
Whether or not this joint should enforce translational limits along its axis.
limits: [f32; 2]
The min an max relative position of the attached bodies along this joint’s axis.
limits_impulse: f32
The impulse applied by this joint on the first body to enforce the position limit along this joint’s axis.
The impulse applied to the second body is given by -impulse
.
motor_target_vel: f32
The target relative angular velocity the motor will attempt to reach.
motor_target_pos: f32
The target relative angle along the joint axis the motor will attempt to reach.
motor_stiffness: f32
The motor’s stiffness.
See the documentation of SpringModel
for more information on this parameter.
motor_damping: f32
The motor’s damping.
See the documentation of SpringModel
for more information on this parameter.
motor_max_impulse: f32
The maximal impulse the motor is able to deliver.
motor_impulse: f32
The angular impulse applied by the motor.
motor_model: SpringModel
The spring-like model used by the motor to reach the target velocity and .
Implementations
impl PrismaticJoint
impl PrismaticJoint
pub fn new(
local_anchor1: OPoint<f32, Const<2_usize>>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
local_anchor2: OPoint<f32, Const<2_usize>>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> PrismaticJoint
pub fn new(
local_anchor1: OPoint<f32, Const<2_usize>>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
local_anchor2: OPoint<f32, Const<2_usize>>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> PrismaticJoint
Creates a new prismatic joint with the given point of applications and axis, all expressed in the local-space of the affected bodies.
pub fn local_axis1(
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
pub fn local_axis1(
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
The local axis of this joint, expressed in the local-space of the first attached body.
pub fn local_axis2(
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
pub fn local_axis2(
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
The local axis of this joint, expressed in the local-space of the second attached body.
pub fn supports_simd_constraints(&self) -> bool
pub fn supports_simd_constraints(&self) -> bool
Can a SIMD constraint be used for resolving this joint?
pub fn configure_motor_model(&mut self, model: SpringModel)
pub fn configure_motor_model(&mut self, model: SpringModel)
Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn configure_motor_velocity(&mut self, target_vel: f32, factor: f32)
pub fn configure_motor_velocity(&mut self, target_vel: f32, factor: f32)
Sets the target velocity this motor needs to reach.
pub fn configure_motor_position(
&mut self,
target_pos: f32,
stiffness: f32,
damping: f32
)
pub fn configure_motor_position(
&mut self,
target_pos: f32,
stiffness: f32,
damping: f32
)
Sets the target position this motor needs to reach.
pub fn configure_motor(
&mut self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
)
pub fn configure_motor(
&mut self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
)
Configure both the target position and target velocity of the motor.
Trait Implementations
impl Clone for PrismaticJoint
impl Clone for PrismaticJoint
pub fn clone(&self) -> PrismaticJoint
pub fn clone(&self) -> PrismaticJoint
Returns a copy of the value. Read more
Performs copy-assignment from source
. Read more
impl From<PrismaticJoint> for JointParams
impl From<PrismaticJoint> for JointParams
pub fn from(j: PrismaticJoint) -> JointParams
pub fn from(j: PrismaticJoint) -> JointParams
Performs the conversion.
impl PartialEq<PrismaticJoint> for PrismaticJoint
impl PartialEq<PrismaticJoint> for PrismaticJoint
pub fn eq(&self, other: &PrismaticJoint) -> bool
pub fn eq(&self, other: &PrismaticJoint) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
pub fn ne(&self, other: &PrismaticJoint) -> bool
pub fn ne(&self, other: &PrismaticJoint) -> bool
This method tests for !=
.
impl Copy for PrismaticJoint
impl StructuralPartialEq for PrismaticJoint
Auto Trait Implementations
impl RefUnwindSafe for PrismaticJoint
impl Send for PrismaticJoint
impl Sync for PrismaticJoint
impl Unpin for PrismaticJoint
impl UnwindSafe for PrismaticJoint
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more